TWI387516B - Actuator - Google Patents
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- TWI387516B TWI387516B TW99129011A TW99129011A TWI387516B TW I387516 B TWI387516 B TW I387516B TW 99129011 A TW99129011 A TW 99129011A TW 99129011 A TW99129011 A TW 99129011A TW I387516 B TWI387516 B TW I387516B
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Description
本發明涉及一種電致動夾持器，尤其涉及一種基於奈米碳管的電致動夾持器。The present invention relates to an electrically actuated holder, and more particularly to an electrically actuated holder based on a carbon nanotube.
致動器的工作原理為將其他能量轉換為機械能，實現這一轉換經常採用的途徑有三種：通過靜電場轉化為靜電力，即靜電驅動；通過電磁場轉化為磁力，即磁驅動；利用材料的熱膨脹或其他熱特性實現能量的轉換，即熱驅動。The working principle of the actuator is to convert other energy into mechanical energy. There are three ways to achieve this conversion: the electrostatic field is converted into electrostatic force, that is, electrostatic drive; the electromagnetic field is converted into magnetic force, that is, magnetic drive; The thermal expansion or other thermal properties enable energy conversion, ie thermal drive.
靜電驅動的致動器一般包括兩個電極及設置在兩個電極之間的電致動元件，其工作過程為在兩個電極上分別注入電荷，利用電荷間的相互吸引和排斥，通過控制電荷數量和電負性來控制電極間電致動元件的相對運動。係由於靜電力反比於電容板之間距離的平方，因此一般只有在電極間距很小時靜電力才比較顯著，該距離的要求使該致動器的結構設計較為複雜。磁驅動的致動器一般包括兩個磁極及設置在兩個磁極之間的電致動元件，其工作過程係通過磁場的相互吸引和排斥作用使兩磁極之間的電致動元件產生相對的運動，然係磁驅動的缺點和靜電驅動相同，即由於磁場作用範圍有限，導致電致動元件的上下兩個表面必須保持較小的距離，該結構的設計要求嚴格且也限制了該致動器的應用範圍。An electrostatically driven actuator generally comprises two electrodes and an electrically actuated element disposed between the two electrodes, the working process of which is to inject a charge on each of the two electrodes, using mutual attraction and repulsion between the charges, by controlling the charge The quantity and electronegativity are used to control the relative motion of the electrically actuated elements between the electrodes. Because the electrostatic force is inversely proportional to the square of the distance between the capacitive plates, the electrostatic force is generally significant only when the electrode spacing is small. The requirement of the distance makes the structural design of the actuator more complicated. A magnetically actuated actuator generally comprises two magnetic poles and an electrically actuated element disposed between the two magnetic poles, the working process of which is caused by the mutual attraction and repulsion of the magnetic fields to cause the electrical actuating elements between the two magnetic poles to be opposite. The disadvantage of the magnetic drive is the same as that of the electrostatic drive, that is, due to the limited range of the magnetic field, the upper and lower surfaces of the electric actuating element must be kept at a small distance. The design requirements of the structure are strict and the actuation is also limited. The scope of application.
而利用熱驅動的致動器克服了上述靜電驅動和磁驅動致動器的缺點，該致動器結構只要能夠保證獲得一定的熱能就能產生相應的形變，另外，相對於靜電力和磁場力，熱驅動力較大。先前技術公開一種電熱式致動器，請參閱“基於熱膨脹效應的微電熱式致動器進展”，匡一寧等，電子器件，vol 22，p162 (1999)。該電熱式致動器採用兩片熱膨脹係數不同的金屬結合成雙層結構作為電致動元件，當通入電流受熱時，由於一片金屬的熱膨脹量大於另一片，雙金屬片將向熱膨脹量小的一方彎曲。然而，由於上述電致動材料採用金屬結構，形變量小，而且雙層金屬材料之間的形變量差異也較小，其柔性較差，導致整個電熱式致動器熱響應速度較慢。另外，兩片金屬片還為了緊密結合而需要將兩者相互固定的手段。The use of a thermally driven actuator overcomes the shortcomings of the above described electrostatically driven and magnetically driven actuators which are capable of producing a corresponding deformation as long as a certain amount of thermal energy is obtained, and in addition to the electrostatic and magnetic forces The heat drive is large. The prior art discloses an electrothermal actuator, see "Progress in Micro-Electrothermal Actuators Based on Thermal Expansion Effect", Yan Yining et al., Electronic Devices, vol 22, p162 (1999). The electrothermal actuator adopts two pieces of metal with different thermal expansion coefficients to form a two-layer structure as an electric actuating element. When the electric current is heated, since the amount of thermal expansion of one piece of metal is larger than the other piece, the bimetal piece will have a small amount of thermal expansion. One side is bent. However, since the above-mentioned electrically actuated material adopts a metal structure, the shape variable is small, and the difference in the shape and the variation between the double-layered metal materials is small, and the flexibility is poor, resulting in a slow thermal response of the entire electrothermal actuator. In addition, the two metal sheets also need to be fixed to each other for tight bonding.
使用上述致動器作為夾持臂的先前夾持裝置，不僅存在上述致動器本身的問題，而且還存在結構設計複雜，使用不方便的問題。The use of the above-described actuator as the previous holding device of the gripping arm not only has the problems of the above-described actuator itself, but also has a problem that the structural design is complicated and the use is inconvenient.
有鑒於此，提供一種結構簡單、響應速度快，並具有柔性的電致動夾持器實為必要。In view of this, it is necessary to provide an electrically actuated holder that is simple in structure, fast in response, and flexible.
一種電致動夾持器，包括一支撐部，以及至少兩個間隔設置的電致動夾持臂，所述至少兩個電致動夾持臂通過所述支撐部固定。其中，每一個電致動夾持臂包括一片狀柔性高分子基體以及一奈米碳管膜結構。所述奈米碳管膜結構至少部分包埋於所述柔性高分子基體一表面，所述奈米碳管膜結構為複數個奈米碳管通過凡得瓦力結合而成，所述至少兩個電致動夾持臂具有奈米碳管膜結構的表面間隔相對設置。An electrically actuated gripper includes a support portion and at least two spaced apart electrically actuated gripping arms that are secured by the support portion. Wherein each of the electrically actuated clamping arms comprises a piece of flexible polymer matrix and a carbon nanotube film structure. The carbon nanotube film structure is at least partially embedded on a surface of the flexible polymer substrate, wherein the carbon nanotube film structure is formed by combining a plurality of carbon nanotubes by van der Waals force, the at least two The electrically actuated gripping arms have a surface spacing relative arrangement of the carbon nanotube membrane structure.
與先前技術相比較，本發明提供的電致動夾持器，其電致動夾持臂為柔性高分子基體和奈米碳管膜結構構成的複合材料，為一個整體的結構，從而使得該電致動夾持器具有結構簡單的優點，並且還具有較好的柔性。另外，該奈米碳管膜結構包括複數個奈米碳管，該複數個奈米碳管由凡得瓦力結合形成一個整體，該複數個奈米碳管相互連接並形成導電網絡，使得該電致動夾持臂具有較好的導電性，可以快速加熱該電致動夾持臂，使得該電致動夾持臂也相應具有較高的導電和導熱性，且熱響應速率較快。Compared with the prior art, the present invention provides an electrically actuated gripper whose electrically actuated gripping arm is a composite material composed of a flexible polymer matrix and a carbon nanotube membrane structure, and is an integral structure, thereby The electrically actuated gripper has the advantage of being structurally simple and also has better flexibility. In addition, the carbon nanotube membrane structure comprises a plurality of carbon nanotubes, the plurality of carbon nanotubes are combined by van der Waals force to form a whole, the plurality of carbon nanotubes are connected to each other and form a conductive network, so that The electrically actuated clamping arm has better electrical conductivity and can rapidly heat the electrically actuated clamping arm such that the electrically actuated clamping arm also has a higher electrical and thermal conductivity and a faster thermal response rate.
本發明涉及一種電致動夾持器，其包括一個支撐部，以及至少兩個電致動夾持臂。所述至少兩個電致動夾持臂間隔相對設置，所述電致動夾持臂的一端固定於所述支撐部。該電致動夾持器可以通過電源驅動使所述至少兩個相對的電致動夾持臂發生熱膨脹形變從而可以相向彎曲，從而實現夾持物品的功能。The invention relates to an electrically actuated gripper comprising a support portion and at least two electrically actuated gripping arms. The at least two electrically actuated clamping arms are spaced apart from each other, and one end of the electrically actuated clamping arm is fixed to the support portion. The electrically actuated gripper can be thermally expanded by the power source to deform the at least two opposing electrically actuated gripping arms so as to be able to bend toward each other, thereby achieving the function of gripping the article.
本發明的電致動夾持器的電致動夾持臂為片狀體或板狀體，根據實際需求可以做成長條型。該電致動夾持臂由柔性高分子基體以及複合在柔性高分子基體表面的奈米碳管膜結構組成，由於奈米碳管膜結構具有很多的間隙，奈米碳管膜結構可以在所述柔性高分子基體為液態時設置於柔性高分子基體表面，這樣液態的柔性高分子材料滲透進入奈米碳管膜結構中，從而使得奈米碳管膜結構與柔性高分子基體複合在一起，但奈米碳管膜結構仍然設置在柔性高分子基體的表面。所述的柔性高分子基體係係指該柔性高分子基體比較容易彎曲，相對於先前技術中的雙金屬片結構，柔性高分子基體會具有更好的彎曲性能和形變量。所述奈米碳管膜結構包括大量的相互搭接的奈米碳管，從而可以形成導電通路。當給該電致動夾持臂通電時，奈米碳管膜結構快速產生熱量並將熱量傳導給高分子基體，由於夾持臂具有奈米碳管膜結構的一側的熱膨脹係數小於沒有奈米碳管的一側的熱膨脹係數，因此該電致動夾持臂向熱膨脹係數小的一面（即具有奈米碳管膜結構的一側）彎曲。當兩個電致動夾持臂具有奈米碳管膜結構的面相對時，該兩個電致動夾持臂將會相向彎曲運動，從而實現夾持物品的功能。該電致動夾持臂具有非常好的柔性，所述柔性係係指其一端被固定時另一端保持一定的彈性。並且由於該電致動夾持臂為高分子和奈米碳管等材料構成，因此具有較輕的質量。The electrically actuated clamping arm of the electrically actuated gripper of the present invention is a sheet-like body or a plate-like body, and can be made into a long strip shape according to actual needs. The electrically actuated clamping arm is composed of a flexible polymer matrix and a carbon nanotube membrane structure laminated on the surface of the flexible polymer matrix. Since the carbon nanotube membrane structure has many gaps, the carbon nanotube membrane structure can be When the flexible polymer matrix is in a liquid state, it is disposed on the surface of the flexible polymer substrate, so that the liquid flexible polymer material penetrates into the carbon nanotube film structure, so that the carbon nanotube film structure is compounded with the flexible polymer matrix. However, the carbon nanotube membrane structure is still disposed on the surface of the flexible polymer matrix. The flexible polymer matrix system means that the flexible polymer matrix is relatively easy to bend, and the flexible polymer matrix has better bending properties and deformation variables than the prior art bimetal structure. The carbon nanotube membrane structure includes a plurality of mutually overlapping carbon nanotubes so that a conductive path can be formed. When the electrically actuated clamping arm is energized, the carbon nanotube membrane structure rapidly generates heat and conducts heat to the polymer matrix, since the thermal expansion coefficient of the side of the clamping arm having the carbon nanotube membrane structure is less than that of the carbon nanotube membrane structure. The coefficient of thermal expansion of one side of the carbon nanotube, so that the electrically actuated gripping arm is bent toward the side having a small coefficient of thermal expansion (i.e., the side having the structure of the carbon nanotube film). When the two electrically actuated gripping arms have opposite faces of the carbon nanotube membrane structure, the two electrically actuated gripping arms will move in opposite directions to effect the function of gripping the article. The electrically actuated gripping arm has very good flexibility, and the flexible system means that the other end maintains a certain elasticity when one end is fixed. Moreover, since the electrically actuated clamping arm is made of a material such as a polymer and a carbon nanotube, it has a lighter mass.
本發明中的奈米碳管膜結構在所述柔性高分子基體的表面形成連續的導電通路，使用時，需要保證對整個奈米碳管膜結構進行通電，這樣才能夠保證奈米碳管膜結構能夠整體發熱。奈米碳管膜結構與電源連接的方式可以有多種，只要能夠使得整個奈米碳管膜結構通電發熱即可，當該電致動夾持臂通電時，該電致動夾持臂將在其較長的延伸方向上彎曲。在具體應用中，本發明中的奈米碳管膜結構可設置在所述柔性高分子基體的整個表面並且兩端與電源電連接，優選的為長條形的片材，當該電致動夾持臂通電時，該電致動夾持臂將在其較長的延伸方向上彎曲，也可以根據實際需要，將該奈米碳管膜結構剪切成各種形狀，如U型，Z型，W型，這裏用英文字母表示奈米碳管膜結構可以形成各種形狀的導電通路。使用時，需要保證對整個奈米碳管膜結構進行通電，這樣才能夠保證奈米碳管膜結構能夠整體發熱。當然，也可以根據實際需要，將該奈米碳管膜結構剪切成各種形狀，本發明實施例中就給出了一種U型結構的奈米碳管膜結構，這樣的結構可以保證從該電致動夾持臂的一側通入電流，從而更加方便實際應用。The carbon nanotube film structure of the present invention forms a continuous conductive path on the surface of the flexible polymer substrate, and when used, it is necessary to ensure that the entire carbon nanotube film structure is energized, so that the carbon nanotube film can be ensured. The structure can heat up as a whole. The carbon nanotube membrane structure can be connected to the power source in a plurality of ways, as long as the entire carbon nanotube membrane structure can be energized and heated. When the electrically actuated clamping arm is energized, the electrically actuated clamping arm will be It bends in the longer extension direction. In a specific application, the carbon nanotube film structure of the present invention may be disposed on the entire surface of the flexible polymer substrate and electrically connected to the power source at both ends, preferably an elongated sheet when the electric actuator is actuated. When the clamping arm is energized, the electrically actuated clamping arm will bend in a longer extending direction thereof, or the carbon nanotube film structure can be cut into various shapes according to actual needs, such as U-shaped, Z-shaped. , W type, here the English alphabet indicates that the carbon nanotube film structure can form conductive paths of various shapes. When using, it is necessary to ensure that the entire carbon nanotube membrane structure is energized, so as to ensure that the carbon nanotube membrane structure can be heated as a whole. Of course, the carbon nanotube film structure can also be sheared into various shapes according to actual needs. In the embodiment of the present invention, a U-shaped carbon nanotube film structure is provided, and such a structure can be guaranteed from An electric current is applied to one side of the clamping arm to facilitate practical application.
本發明的電致動夾持器，電致動夾持臂要達到夾持目的，其一端必須固定，另一端相互間隔設置，因此才可以通過所述至少兩個電致動夾持臂的相向彎曲實現夾持物體的功能。所述支撐部主要起到設置並固定所述至少兩個電致動夾持臂的作用，因此，所述至少兩個電致動夾持臂於支撐部之間的固定方式不限，只要係係能夠使得所述至少兩個電致動夾持臂的一端固定，並且間隔設置就可以。所述支撐部可以和所述至少兩個電致動夾持臂一體成型設置，也可以分開形成。比如，所述支撐部可以包括至少兩個支撐臂，每一個支撐臂對應一個電致動夾持臂。該支撐臂主要用於固定所述電致動夾持臂的一端。使用時，可以通過移動支撐臂移動該電致動夾持器，用以對準目標物。該支撐臂根據電致動夾持臂的數量提供相等數量的相互獨立的支撐臂或者將一個支撐臂可以設置成分叉形狀。比如可以提供設置有兩個分叉的Y字型支撐臂。將兩個所述電致動夾持臂分別設置於所述支撐臂相互間隔的一端，並且使所述兩個電致動夾持臂的形成有奈米碳管膜結構的面相對，當給這兩個電致動夾持臂通電時，這兩個電致動夾持臂將相向彎曲，從而可以用於夾持物品。比如可以提供設置有複數個分叉的抓手形狀的支撐臂，每一個支撐臂的一端均設置一個電致動夾持臂，該複數個夾持臂相互間隔，形成一手狀的電致動夾持器，用於夾持物品。當然，本領域技術人員可以在本發明說明書的基礎上，組合出來各種夾持裝置，其基本原理，功能都在本發明說明書記載的範圍內，都應屬於本發明的保護範圍。In the electrically actuated gripper of the present invention, the electrically actuated gripping arm is required for clamping purposes, one end of which must be fixed and the other end spaced apart from each other so that the opposite direction of the at least two electrically actuated gripping arms can be Bending to achieve the function of holding objects. The support portion mainly functions to set and fix the at least two electrically actuated clamping arms, and therefore, the manner in which the at least two electrically actuated clamping arms are fixed between the supporting portions is not limited, as long as One end of the at least two electrically actuated clamping arms can be fixed and spaced apart. The support portion may be integrally formed with the at least two electrically actuated clamping arms, or may be formed separately. For example, the support portion can include at least two support arms, each support arm corresponding to an electrically actuated clamp arm. The support arm is primarily used to secure one end of the electrically actuated clamp arm. In use, the electrically actuated gripper can be moved by moving the support arm to align the target. The support arm provides an equal number of mutually independent support arms depending on the number of electrically actuated clamp arms or a support arm can be placed in the shape of a fork. For example, a Y-shaped support arm provided with two forks can be provided. Providing two of the electrically actuated clamping arms at one end of the support arm at a distance from each other, and making the faces of the two electrically actuated clamping arms formed with the carbon nanotube film structure opposite When the two electrically actuated gripping arms are energized, the two electrically actuated gripping arms will be bent toward each other so that they can be used to grip the item. For example, a support arm provided with a plurality of bifurcated grip shapes may be provided, and one end of each support arm is provided with an electrically actuated clamping arm, and the plurality of clamping arms are spaced apart from each other to form a hand-shaped electric actuating clip. Holder for holding items. Of course, those skilled in the art can combine various clamping devices on the basis of the specification of the present invention, and the basic principles and functions thereof are all within the scope of the description of the present invention, and should belong to the protection scope of the present invention.
所述電致動夾持器還需要導線若干，用於給所述電致動夾持臂通電。給所述電致動夾持臂通電的導電線路可以沿支撐臂外表面設置，並通過電致動夾持臂固定在支撐部的一端給電致動夾持臂通電。另外，也可以在支撐臂內設置走線通道等，使導電線路從支撐臂內部走線，然後再給所述電致動夾持臂固定在支撐部的一端通電。更進一步的，還可以將電致動支撐部的支撐臂與電致動夾持臂連接的一端設置卡槽，卡槽內設置電極，將所述電致動夾持臂的一端直接採用卡扣的形式固定在所述卡槽內，使得該電致動夾持器具有裝卸簡單，方便的優點，更加有利於實際應用。可以理解，本領域技術人員可以根據需要設置本發明的電致動夾持臂與支撐部的連接方式，所有連接方式均在本發明保護的範圍之內。The electrically actuated gripper also requires a number of wires for energizing the electrically actuated gripping arms. A conductive line energizing the electrically actuated clamp arm can be disposed along the outer surface of the support arm and energized by an electrically actuated clamp arm at one end of the support portion to energize the electrically actuated clamp arm. Alternatively, a wiring passage or the like may be provided in the support arm to route the conductive line from the inside of the support arm, and then the one end of the electric actuation clamp arm fixed to the support portion is energized. Further, a card slot may be disposed at one end of the support arm of the electrically actuated support portion and the electrically actuated clamp arm, and an electrode is disposed in the card slot, and one end of the electrically actuated clamp arm is directly buckled The form is fixed in the card slot, so that the electrically actuated holder has the advantages of simple loading and unloading and convenience, and is more advantageous for practical applications. It can be understood that those skilled in the art can set the connection manner of the electrically actuated clamping arm of the present invention and the support portion as needed, and all the connection manners are within the scope of protection of the present invention.
本發明提供的電致動夾持器，其夾持臂採用了由高分子基體和奈米碳管膜結構複合形成的電致動夾持臂作為基本夾持元件，從而具有結構簡單的優點，尤其兩個材料複合為一整體結構，無需額外的固定手段。另外，當奈米碳管膜結構靠近高分子基體的表面，設置於柔性高分子基體之中時，該柔性高分子基體為絕緣材料時，該電致動夾持器還可以在水中應用。所述奈米碳管膜結構為由複數個奈米碳管由凡得瓦力結合形成一個純奈米碳管組成的整體結構，該複數個奈米碳管相互連接並形成導電網絡，純奈米碳管膜結構具有較好的導電性，可以快速加熱電致動夾持臂，從而使其具有較快的響應速度。The electric actuating holder provided by the invention adopts an electric actuating clamping arm formed by compounding a polymer matrix and a carbon nanotube film structure as a basic clamping component, thereby having the advantages of simple structure. In particular, the two materials are combined into a single structure without additional fixing means. In addition, when the carbon nanotube film structure is close to the surface of the polymer matrix and is disposed in the flexible polymer matrix, when the flexible polymer matrix is an insulating material, the electrically actuated holder can also be applied in water. The carbon nanotube membrane structure is a monolithic structure composed of a plurality of carbon nanotubes combined with van der Waals force to form a pure carbon nanotube, and the plurality of carbon nanotubes are connected to each other to form a conductive network, pure nai The carbon nanotube membrane structure has good electrical conductivity and can rapidly heat the electrically actuated clamping arm, so that it has a faster response speed.
以下將結合附圖以具體實施例來詳細說明本發明提供的電致動夾持器。The electrically actuated gripper provided by the present invention will be described in detail below with reference to the accompanying drawings in detail.
請參考圖1，本發明第一實施例提供一種電致動夾持器100，該電致動夾持器100包括一個支撐部30、兩個電致動夾持臂10以及若干導線60。所述支撐部30具有兩個支撐臂31，所述支撐臂31具有一個第一端311，和一個第二端312。所述兩個支撐臂31的第一端311間隔設置，所述兩個支撐臂31的第二端312相互連接，所述兩個支撐臂的第二端312可以一體成型或通過黏結劑黏結在一起。所述兩個電致動夾持臂10分別設置於所述兩個支撐臂31的第一端311，並且間隔相對設置。所述導線60固定在所述支撐臂31，並與所述電致動夾持臂10電連接，用於給所述電致動夾持臂10通電。Referring to FIG. 1, a first embodiment of the present invention provides an electrically actuated holder 100 that includes a support portion 30, two electrically actuated clamping arms 10, and a plurality of wires 60. The support portion 30 has two support arms 31 having a first end 311 and a second end 312. The first ends 311 of the two support arms 31 are spaced apart, the second ends 312 of the two support arms 31 are connected to each other, and the second ends 312 of the two support arms may be integrally formed or bonded by an adhesive. together. The two electrically actuated clamping arms 10 are respectively disposed at the first ends 311 of the two support arms 31 and are disposed at opposite intervals. The wire 60 is secured to the support arm 31 and is electrically coupled to the electrically actuated clamp arm 10 for energizing the electrically actuated clamp arm 10.
所述支撐臂31為條形的棒狀物，由硬質材料構成，如金屬、塑膠、木材或玻璃等。當所述支撐臂31的材料為金屬時，可以在該支撐臂31的表面形成一層絕緣材料，從而避免所述電致動夾持臂10短路。所述支撐臂31可以為具有一定厚度的長條形片材，所述電致動夾持臂10可以通過黏結劑，或者係膠帶黏附在所述支撐臂31的第一端311，所述兩個支撐臂31的第二端312可以通過黏結劑黏附在一起，或者通過螺絲或螺栓固定在一起，還可以通過一體成型的方法，獲得兩個第二端312連接在一起的兩個支撐臂31，即Y型支撐部30。所述支撐臂31還可以為空心管狀體，該空心管的中空部分可以設置導線60，導線60從所述支撐臂31的第二端312進入所述空心管狀體，在所述支撐臂31的第一端311穿出所述空心管狀體，用於連接到所述電致動夾持臂10，並給所述電致動夾持臂10通電，從而控制該電致動夾持臂10彎曲。本實施例中，所述支撐臂31為長條形的塑膠棒，長度約10厘米，寬度為1厘米，所述電致動夾持臂10通過膠水黏結在所述支撐臂的第一端311。The support arm 31 is a strip-shaped rod made of a hard material such as metal, plastic, wood or glass. When the material of the support arm 31 is metal, a layer of insulating material may be formed on the surface of the support arm 31 to avoid short-circuiting of the electrically actuated clamp arm 10. The support arm 31 may be an elongated sheet having a certain thickness, and the electrically actuated clamping arm 10 may be adhered to the first end 311 of the support arm 31 by an adhesive or a tape, the two The second ends 312 of the support arms 31 may be adhered together by a bonding agent, or may be fixed by screws or bolts, and two supporting arms 31 connected to the two second ends 312 may be obtained by an integral molding method. That is, the Y-shaped support portion 30. The support arm 31 may also be a hollow tubular body, and the hollow portion of the hollow tube may be provided with a wire 60 from which the wire 60 enters the hollow tubular body at the second end 312 of the support arm 31. A first end 311 extends through the hollow tubular body for connection to the electrically actuated clamping arm 10 and energizes the electrically actuated clamping arm 10 to control bending of the electrically actuated clamping arm 10 . In this embodiment, the support arm 31 is an elongated plastic rod having a length of about 10 cm and a width of 1 cm. The electrically actuated clamping arm 10 is glued to the first end 311 of the support arm by glue. .
請一併參考圖2及圖3，所述電致動夾持臂10為片材，其包括：一柔性高分子基體14，以及一奈米碳管膜結構12。所述奈米碳管膜結構12與所述柔性高分子基體14具有不同的熱膨脹係數，其中，所述奈米碳管膜結構12靠近柔性高分子基體14的一表面設置，至少部分包埋於柔性高分子基體14中，優選地，所述奈米碳管膜結構12完全設置於柔性高分子基體14中，並且靠近所述柔性高分子基體的一表面設置。所述奈米碳管膜結構12為複數個奈米碳管122通過凡得瓦力結合而成。而所述兩個電致動夾持臂10的具有奈米碳管膜結構12的表面向相間隔設置。上述奈米碳管膜結構12靠近所述柔性高分子基體14的表面設置，指的係該奈米碳管膜結構12沒有設置於柔性高分子基體14的中間，也就係說奈米碳管膜結構12在柔性高分子基體14中在其厚度方向上並不係對稱的，正係這樣設置，才使得該電致動夾持臂10在其厚度方向上的熱膨脹係數不相同，奈米碳管膜結構12的熱膨脹係數小於柔性高分子基體14的熱膨脹係數，從而當給奈米碳管膜結構12通電發熱，使柔性高分子基體14膨脹時，該電致動夾持臂10才會向具有奈米碳管膜結構12的一面彎曲。本實施例中的電致動夾持臂10為長6厘米，寬1厘米，厚度1毫米的長方體片材，其中奈米碳管膜結構的厚度約為100微米。Referring to FIG. 2 and FIG. 3 together, the electrically actuated clamping arm 10 is a sheet comprising: a flexible polymer matrix 14, and a carbon nanotube film structure 12. The carbon nanotube film structure 12 and the flexible polymer matrix 14 have different coefficients of thermal expansion, wherein the carbon nanotube film structure 12 is disposed adjacent to a surface of the flexible polymer substrate 14, at least partially embedded in In the flexible polymer matrix 14, preferably, the carbon nanotube film structure 12 is completely disposed in the flexible polymer matrix 14 and disposed adjacent to a surface of the flexible polymer matrix. The carbon nanotube membrane structure 12 is formed by combining a plurality of carbon nanotubes 122 by van der Waals force. The surfaces of the two electrically actuated gripping arms 10 having the carbon nanotube membrane structure 12 are spaced apart from each other. The carbon nanotube film structure 12 is disposed near the surface of the flexible polymer substrate 14, and the carbon nanotube film structure 12 is not disposed in the middle of the flexible polymer substrate 14, that is, the carbon nanotubes are The film structure 12 is not symmetric in the thickness direction of the flexible polymer matrix 14, and is arranged such that the coefficient of thermal expansion of the electrically actuated clamping arm 10 in the thickness direction thereof is different, and the carbon is not uniform. The thermal expansion coefficient of the tubular membrane structure 12 is smaller than the thermal expansion coefficient of the flexible polymer matrix 14, so that when the carbon nanotube membrane structure 12 is energized and heated to expand the flexible polymer matrix 14, the electrically actuated clamping arm 10 will One side of the carbon nanotube film structure 12 is curved. The electrically actuated clamping arm 10 of this embodiment is a rectangular parallelepiped sheet having a length of 6 cm, a width of 1 cm and a thickness of 1 mm, wherein the carbon nanotube film structure has a thickness of about 100 μm.
所述柔性高分子基體14為具有一定厚度的片材，該片材的形狀不限，可以為長方形、圓形，或根據實際應用製成各種形狀。所述柔性高分子基體14為柔性材料構成，該柔性材料為絕緣材料，只要具有柔性並且熱膨脹係數大於奈米碳管膜結構12即可。所述柔性高分子基體14的材料為矽橡膠、聚甲基丙烯酸甲酯、聚氨脂、環氧樹脂、聚丙烯酸乙酯、聚丙烯酸丁酯、聚苯乙烯、聚丁二烯、聚丙烯腈、聚苯胺、聚吡咯及聚噻吩等中的一種或幾種的組合。本實施例中，所述柔性高分子基體14為一矽橡膠薄膜，該矽橡膠薄膜為厚度約為5毫米厚的一長方形薄片，長為6厘米，寬為1厘米。The flexible polymer matrix 14 is a sheet having a certain thickness, and the shape of the sheet is not limited, and may be rectangular, circular, or various shapes according to practical applications. The flexible polymer matrix 14 is made of a flexible material which is an insulating material as long as it has flexibility and a coefficient of thermal expansion greater than that of the carbon nanotube film structure 12. The material of the flexible polymer matrix 14 is ruthenium rubber, polymethyl methacrylate, polyurethane, epoxy resin, polyethyl acrylate, polybutyl acrylate, polystyrene, polybutadiene, polyacrylonitrile. A combination of one or more of polyaniline, polypyrrole, and polythiophene. In this embodiment, the flexible polymer substrate 14 is a ruthenium rubber film which is a rectangular sheet having a thickness of about 5 mm and a length of 6 cm and a width of 1 cm.
該奈米碳管膜結構12平行於所述柔性高分子基體14並鋪設於柔性高分子基體14的一表面。該奈米碳管膜結構12係由複數個奈米碳管122通過凡得瓦力結合構成，複數個奈米碳管122之間存在間隙。該奈米碳管膜結構12係在柔性高分子基體14未完全固化呈黏稠的液態時鋪設於該柔性高分子基體14的表面，因此液態的柔性高分子基體材料可以滲透進入該奈米碳管膜結構12中的奈米碳管122之間的間隙當中，該柔性高分子基體14的材料與奈米碳管膜結構12中的奈米碳管122緊密結合在一起。所述奈米碳管膜結構12與柔性高分子基體14接觸的表面部分包埋於所述柔性高分子基體14中，所述奈米碳管膜結構12也可以完全設置於所述柔性高分子基體14中，但仍然靠向整個柔性高分子基體14的一表面設置。由於液態的柔性高分子基體材料可以滲透進入該奈米碳管膜結構12中的奈米碳管122之間的間隙當中，從而奈米碳管膜結構12可以很好地被固定在該柔性高分子基體14的表面，與該柔性高分子基體14具有很好的結合性能，奈米碳管膜結構12與柔性高分子基體14形成一個具有整體結構的複合材料。該電致動夾持臂10不會因為多次使用，影響奈米碳管膜結構12與柔性高分子基體14之間介面的結合性。該奈米碳管膜結構12的厚度遠小於與柔性高分子基體14的厚度，且該奈米碳管膜結構12靠近該柔性高分子基體14的一表面設置，從而使得該電致動夾持臂10具有一非對稱結構。該奈米碳管膜結構12與該柔性高分子基體14的厚度比為1：5~1：200，優選地該奈米碳管膜結構12與柔性高分子基體14的厚度比為1：20~1：25。The carbon nanotube film structure 12 is parallel to the flexible polymer substrate 14 and is laid on a surface of the flexible polymer substrate 14. The carbon nanotube film structure 12 is composed of a plurality of carbon nanotubes 122 combined by van der Waals force, and a gap exists between the plurality of carbon nanotubes 122. The carbon nanotube film structure 12 is laid on the surface of the flexible polymer matrix 14 when the flexible polymer matrix 14 is not completely solidified in a viscous liquid state, so that the liquid flexible polymer matrix material can penetrate into the carbon nanotubes. Among the gaps between the carbon nanotubes 122 in the membrane structure 12, the material of the flexible polymer matrix 14 is tightly bonded to the carbon nanotubes 122 in the carbon nanotube membrane structure 12. The surface of the carbon nanotube film structure 12 in contact with the flexible polymer substrate 14 is partially embedded in the flexible polymer matrix 14, and the carbon nanotube film structure 12 may be completely disposed on the flexible polymer. The base 14 is still disposed on a surface of the entire flexible polymer substrate 14. Since the liquid flexible polymer matrix material can penetrate into the gap between the carbon nanotubes 122 in the carbon nanotube film structure 12, the carbon nanotube film structure 12 can be well fixed at the flexibility. The surface of the molecular matrix 14 has a good bonding property with the flexible polymer matrix 14, and the carbon nanotube film structure 12 and the flexible polymer matrix 14 form a composite material having a monolithic structure. The electrically actuated gripping arm 10 does not affect the interface between the carbon nanotube membrane structure 12 and the flexible polymer matrix 14 due to multiple uses. The thickness of the carbon nanotube film structure 12 is much smaller than the thickness of the flexible polymer matrix 14, and the carbon nanotube film structure 12 is disposed adjacent to a surface of the flexible polymer substrate 14, thereby causing the electrically actuated clamping The arm 10 has an asymmetrical structure. The thickness ratio of the carbon nanotube film structure 12 to the flexible polymer matrix 14 is 1:5 to 1:200, preferably the thickness ratio of the carbon nanotube film structure 12 to the flexible polymer matrix 14 is 1:20. ~1:25.
本發明中的奈米碳管膜結構12可以為各種形狀，優選的為長條形的片材，當該給奈米碳管膜結構12通電時，該電致動夾持臂10將在其較長的延伸方向上彎曲。請參見圖4，本實施例中，所述奈米碳管膜結構12呈U形，即該奈米碳管膜結構12包括一第一接電部124，一第二接電部126以及一連接部125。所述第一接電部124、第二接電部126以及連接部125均為長條形或者為帶狀。所述連接部125連接所述第一接電部124和第二接電部126，從而形成一彎折延伸的長條形整體結構。所述第一接電部124和第二接電部126相互間隔設置並位於所述連接部125的同一側，從而形成U形的導電通路。奈米碳管膜結構12中的奈米碳管相互結合形成一個整體，該奈米碳管膜結構12係以一個整體的形成複合於所述柔性高分子基體14的一個表面，並被柔性高分子基體14包裹其中。當所述電致動夾持臂10設置於所述支撐臂31的第一端311時，所述連接部125要遠離所述第一端311。所述電致動夾持臂10中所述第一接電部124以及第二接電部126，遠離所述連接部125的一端靠近所述支撐臂31的第一端311。使用時，可以通過兩個導線，分別與所述第一接電部124以及所述第二接電部126的遠離所述連接部125的一端電連接，然後與外界電源電連接，電流通過所述第一接電部124、連接部125及第二接電部126，從而電能轉換成熱能傳遞至電致動夾持臂10內，使所述兩個電致動夾持臂10形成有連接部125的一側將相向彎曲，從而可以實現夾持功能。The carbon nanotube membrane structure 12 of the present invention may be of various shapes, preferably elongated strips, which will be energized when the carbon nanotube membrane structure 12 is energized. Bend in the longer extension direction. Referring to FIG. 4, in the embodiment, the carbon nanotube film structure 12 is U-shaped, that is, the carbon nanotube film structure 12 includes a first electrical connection portion 124, a second electrical connection portion 126, and a Connection portion 125. The first power receiving portion 124, the second power receiving portion 126, and the connecting portion 125 are each elongated or strip-shaped. The connecting portion 125 connects the first electrical connecting portion 124 and the second electrical connecting portion 126 to form a bent and extended elongated overall structure. The first power receiving portion 124 and the second power receiving portion 126 are spaced apart from each other and located on the same side of the connecting portion 125 to form a U-shaped conductive path. The carbon nanotubes in the carbon nanotube membrane structure 12 are combined to form a unitary body, and the carbon nanotube membrane structure 12 is integrally formed on one surface of the flexible polymer matrix 14 and is highly flexible. The molecular matrix 14 is wrapped therein. When the electrically actuated clamping arm 10 is disposed at the first end 311 of the support arm 31, the connecting portion 125 is away from the first end 311. The first power receiving portion 124 and the second power receiving portion 126 of the electrically actuated clamping arm 10 are adjacent to the first end 311 of the supporting arm 31 at an end away from the connecting portion 125. When in use, it can be electrically connected to the first power receiving portion 124 and one end of the second power receiving portion 126 away from the connecting portion 125 through two wires, and then electrically connected to an external power source, and the current passes through The first electrical connection portion 124, the connecting portion 125 and the second electrical connection portion 126 are described, so that electrical energy is converted into thermal energy and transferred into the electrically actuated clamping arm 10, so that the two electrically actuated clamping arms 10 are connected. One side of the portion 125 will be bent toward each other so that the clamping function can be achieved.
所述奈米碳管膜結構12為將一個奈米碳管膜或複數個奈米碳管膜重疊後剪切形成。例如，可以將複數個奈米碳管膜相互層疊設置後，再將其剪切從而獲得一個U形片狀結構的奈米碳管膜結構12。該奈米碳管膜可以為奈米碳管拉膜、奈米碳管碾壓膜、奈米碳管絮化膜中的一種或多種的組合。The carbon nanotube membrane structure 12 is formed by laminating a carbon nanotube membrane or a plurality of carbon nanotube membranes. For example, a plurality of carbon nanotube films may be laminated on each other and then sheared to obtain a U-shaped sheet-like carbon nanotube film structure 12. The carbon nanotube film may be a combination of one or more of a carbon nanotube film, a carbon nanotube film, and a carbon nanotube film.
請參閱圖5，所述奈米碳管拉膜包括複數個奈米碳管，且該複數個奈米碳管基本相互平行且平行於奈米碳管拉膜的表面。具體地，該奈米碳管膜中的複數個奈米碳管通過凡得瓦力首尾相連，且所述複數個奈米碳管的軸向基本沿同一方向擇優取向排列，也就係說奈米碳管首尾相連沿著奈米碳管膜延伸的方向定向排列。所述奈米碳管拉膜之中的奈米碳管之間存在間隙，當使用該複數個奈米碳管拉膜層疊後剪切製成的奈米碳管膜結構12與柔性高分子基體14結合時，該複數個奈米碳管拉膜可以交叉後重疊，從而使得剪切後獲得的奈米碳管膜結構12中的奈米碳管交叉排列；另外，還可以使該複數個奈米碳管拉膜平行重疊，從而使剪切後獲得的奈米碳管膜結構12中的奈米碳管的軸向基本沿同一方向擇優取向排列。該奈米碳管拉膜的厚度為0.01微米~100微米，其中的奈米碳管為單壁奈米碳管、雙壁奈米碳管及多壁奈米碳管中的一種或幾種。當該奈米碳管膜中的奈米碳管為單壁奈米碳管時，該單壁奈米碳管的直徑為0.5奈米~10奈米。當該奈米碳管膜中的奈米碳管為雙壁奈米碳管時，該雙壁奈米碳管的直徑為1.0奈米~20奈米。當該奈米碳管膜中的奈米碳管為多壁奈米碳管時，該多壁奈米碳管的直徑為1.5奈米~50奈米。所述奈米碳管拉膜的面積不限，可根據實際需求製備。Referring to FIG. 5, the carbon nanotube film comprises a plurality of carbon nanotubes, and the plurality of carbon nanotubes are substantially parallel to each other and parallel to the surface of the carbon nanotube film. Specifically, the plurality of carbon nanotubes in the carbon nanotube film are connected end to end by van der Waals force, and the axial directions of the plurality of carbon nanotubes are arranged in a preferred orientation in the same direction, that is, The carbon nanotubes are connected end to end along the direction in which the carbon nanotube film extends. There is a gap between the carbon nanotubes in the carbon nanotube film, and the carbon nanotube film structure 12 and the flexible polymer matrix are cut after lamination using the plurality of carbon nanotube films. When 14 is combined, the plurality of carbon nanotube films may be overlapped and overlapped, so that the carbon nanotubes in the carbon nanotube film structure 12 obtained after shearing are cross-aligned; in addition, the plurality of naphthalenes may be The carbon nanotube film is overlapped in parallel, so that the axial directions of the carbon nanotubes in the carbon nanotube film structure 12 obtained after shearing are substantially aligned in the same direction. The carbon nanotube film has a thickness of 0.01 μm to 100 μm, and the carbon nanotubes are one or more of a single-walled carbon nanotube, a double-walled carbon nanotube, and a multi-walled carbon nanotube. When the carbon nanotube in the carbon nanotube film is a single-walled carbon nanotube, the single-walled carbon nanotube has a diameter of 0.5 nm to 10 nm. When the carbon nanotube in the carbon nanotube film is a double-walled carbon nanotube, the double-walled carbon nanotube has a diameter of 1.0 nm to 20 nm. When the carbon nanotube in the carbon nanotube film is a multi-walled carbon nanotube, the diameter of the multi-walled carbon nanotube is 1.5 nm to 50 nm. The area of the carbon nanotube film is not limited and can be prepared according to actual needs.
請參閱圖6，所述奈米碳管碾壓膜包括均勻分佈的奈米碳管。所述奈米碳管無序排列，或者沿同一方向或不同方向擇優取向排列。所述奈米碳管碾壓膜中的奈米碳管相互部分交疊，並通過凡得瓦力相互吸引，緊密結合，使得該奈米碳管碾壓膜具有很好的柔韌性，可以彎曲折疊成任意形狀而不破裂。且由於奈米碳管碾壓膜中的奈米碳管之間通過凡得瓦力相互吸引，緊密結合，使奈米碳管碾壓膜為一自支撐的結構。所述奈米碳管碾壓膜可通過碾壓一奈米碳管陣列獲得。所述奈米碳管碾壓膜中的奈米碳管與形成奈米碳管陣列的生長基底的表面形成一夾角β，其中，β大於等於0度且小於等於15度(0≤β≤15°)，該夾角β與施加在奈米碳管陣列上的壓力有關，壓力越大，該夾角越小，優選地，該奈米碳管碾壓膜中的奈米碳管平行於該生長基底排列。該奈米碳管碾壓膜為通過碾壓一奈米碳管陣列獲得，依據碾壓的方式不同，該奈米碳管碾壓膜中的奈米碳管具有不同的排列形式。當沿不同方向碾壓時，奈米碳管沿不同方向擇優取向排列。當沿同一方向碾壓時，奈米碳管沿一固定方向擇優取向排列。另外，當碾壓方向為垂直該奈米碳管陣列表面時，該奈米碳管可以無序排列。該奈米碳管碾壓膜中奈米碳管的長度大於50微米。Referring to FIG. 6, the carbon nanotube rolled film comprises a uniformly distributed carbon nanotube. The carbon nanotubes are arranged in disorder, or arranged in the same direction or in different directions. The carbon nanotubes in the carbon nanotube film are partially overlapped with each other and are attracted to each other by the van der Waals force, so that the carbon nanotube film has good flexibility and can be bent. Fold into any shape without breaking. Moreover, since the carbon nanotubes in the carbon nanotube rolled film are attracted to each other by the van der Waals force, the carbon nanotube film is a self-supporting structure. The carbon nanotube rolled film can be obtained by rolling an array of carbon nanotubes. The carbon nanotubes in the carbon nanotube rolled film form an angle β with the surface of the growth substrate forming the carbon nanotube array, wherein β is greater than or equal to 0 degrees and less than or equal to 15 degrees (0 ≤ β ≤ 15) °), the angle β is related to the pressure applied to the carbon nanotube array, and the larger the pressure, the smaller the angle, preferably, the carbon nanotube in the carbon nanotube rolled film is parallel to the growth substrate arrangement. The carbon nanotube rolled film is obtained by rolling a carbon nanotube array, and the carbon nanotubes in the carbon nanotube rolled film have different arrangement forms according to different rolling methods. When rolled in different directions, the carbon nanotubes are arranged in a preferred orientation in different directions. When rolled in the same direction, the carbon nanotubes are arranged in a preferred orientation along a fixed direction. In addition, when the rolling direction is perpendicular to the surface of the carbon nanotube array, the carbon nanotubes may be disorderly arranged. The length of the carbon nanotubes in the carbon nanotube rolled film is greater than 50 microns.
該奈米碳管碾壓膜的面積和厚度不限，可根據實際需要選擇。該奈米碳管碾壓膜的面積與奈米碳管陣列的尺寸基本相同。該奈米碳管碾壓膜厚度與奈米碳管陣列的高度以及碾壓的壓力有關，可為1微米~1毫米。可以理解，奈米碳管陣列的高度越大而施加的壓力越小，則製備的奈米碳管碾壓膜的厚度越大；反之，奈米碳管陣列的高度越小而施加的壓力越大，則製備的奈米碳管碾壓膜的厚度越小。所述奈米碳管碾壓膜之中的相鄰的奈米碳管之間具有一定間隙，從而在奈米碳管碾壓膜中形成複數個孔隙，孔隙的孔徑約小於10微米。The area and thickness of the carbon nanotube rolled film are not limited and can be selected according to actual needs. The area of the carbon nanotube rolled film is substantially the same as the size of the carbon nanotube array. The thickness of the carbon nanotube film is related to the height of the carbon nanotube array and the pressure of the rolling, and may be from 1 micrometer to 1 millimeter. It can be understood that the larger the height of the carbon nanotube array and the smaller the applied pressure, the larger the thickness of the prepared carbon nanotube rolled film; on the contrary, the smaller the height of the carbon nanotube array, the more the applied pressure Large, the smaller the thickness of the prepared carbon nanotube rolled film. A gap is formed between adjacent carbon nanotubes in the carbon nanotube rolled film, thereby forming a plurality of pores in the carbon nanotube rolled film, and the pores have a pore diameter of less than about 10 μm.
請參閱圖7，所述奈米碳管絮化膜包括複數個相互纏繞且均勻分佈的奈米碳管。奈米碳管的長度大於10微米，優選為200~900微米，從而使所述奈米碳管相互纏繞在一起。所述奈米碳管之間通過凡得瓦力相互吸引、纏繞，形成網絡狀結構，以形成一自支撐的奈米碳管絮化膜。所述奈米碳管絮化膜各向同性。所述奈米碳管絮化膜中的奈米碳管為均勻分佈，無規則排列，形成大量的孔隙結構，孔隙孔徑約小於10微米。所述奈米碳管絮化膜的長度和寬度不限。由於在奈米碳管絮化膜中，奈米碳管相互纏繞，因此該奈米碳管絮化膜具有很好的柔韌性，且為一自支撐結構，可以彎曲折疊成任意形狀而不破裂。所述奈米碳管絮化膜的面積及厚度均不限，厚度為1微米~1毫米，優選為100微米。Referring to FIG. 7, the carbon nanotube flocculation membrane comprises a plurality of carbon nanotubes which are intertwined and uniformly distributed. The length of the carbon nanotubes is greater than 10 microns, preferably between 200 and 900 microns, such that the carbon nanotubes are intertwined with each other. The carbon nanotubes are attracted and entangled with each other by van der Waals force to form a network structure to form a self-supporting carbon nanotube flocculation film. The carbon nanotube flocculation membrane is isotropic. The carbon nanotubes in the carbon nanotube flocculation membrane are uniformly distributed, randomly arranged, and form a large number of pore structures, and the pore diameter is less than about 10 micrometers. The length and width of the carbon nanotube film are not limited. Since the carbon nanotubes are intertwined in the carbon nanotube flocculation membrane, the carbon nanotube flocculation membrane has good flexibility and is a self-supporting structure, which can be bent and folded into any shape without breaking. . The area and thickness of the carbon nanotube film are not limited, and the thickness is 1 micrometer to 1 mm, preferably 100 micrometers.
請參閱圖4，本實施例中，所述奈米碳管膜結構12優選為複數個奈米碳管拉膜相互層疊後再剪切形成U形結構。該複數個相互層疊的奈米碳管拉膜中，奈米碳管122的軸向具有相同的擇優取向，即該奈米碳管膜結構12中的奈米碳管122的軸向基本沿通一方向擇優取向排列。當剪切複數個相互層疊的奈米碳管膜時，要使得形成的奈米碳管膜結構12中的第一接電部124與第二接電部126沿著奈米碳管膜結構12中的奈米碳管122的擇優取向排列方向延伸。本實施例中，該奈米碳管膜結構12的長度為6厘米，寬度為1厘米，其中所述第一接電部124，和第二接電部126均為長條帶狀，其長度為5厘米，寬度為0.4厘米，第一接電部124和第二接電部126之間的間隙的寬度為0.2厘米，所述連接部125為邊長為1厘米的正方形片材。該奈米碳管膜結構12係由10層奈米碳管拉膜沿著相同的奈米碳管的排列方向重疊後，用剪刀裁減而成，該奈米碳管膜結構12的厚度係100微米。並且，該奈米碳管膜結構12中的奈米碳管122沿著第一接電部124和第二接電部126延伸的方向首尾相連，定向排列。Referring to FIG. 4, in the embodiment, the carbon nanotube film structure 12 is preferably a plurality of carbon nanotube film laminated on each other and then sheared to form a U-shaped structure. In the plurality of mutually stacked carbon nanotube films, the axial direction of the carbon nanotubes 122 has the same preferred orientation, that is, the axial direction of the carbon nanotubes 122 in the carbon nanotube film structure 12 is substantially One direction is preferred orientation. When a plurality of mutually stacked carbon nanotube films are sheared, the first electrical connection portion 124 and the second electrical connection portion 126 in the formed carbon nanotube film structure 12 are formed along the carbon nanotube film structure 12 The preferred orientation of the carbon nanotubes 122 in the direction of alignment extends. In this embodiment, the carbon nanotube film structure 12 has a length of 6 cm and a width of 1 cm, wherein the first electrical connection portion 124 and the second electrical connection portion 126 are strip-shaped and have a length. The width is 0.5 cm, the width between the first electrical connection portion 124 and the second electrical connection portion 126 is 0.2 cm, and the connecting portion 125 is a square sheet having a side length of 1 cm. The carbon nanotube film structure 12 is formed by stacking 10 layers of carbon nanotube film along the arrangement direction of the same carbon nanotubes, and then cutting with scissors, the thickness of the carbon nanotube film structure 12 is 100. Micron. Moreover, the carbon nanotubes 122 in the carbon nanotube film structure 12 are connected end to end in a direction in which the first power receiving portion 124 and the second power receiving portion 126 extend, and are aligned.
所述電致動夾持臂10在應用時，將電壓通過所述奈米碳管膜結構12的第一接電部124和第二接電部126施加於該電致動夾持臂10，電流可通過所述奈米碳管膜結構12中通過凡得瓦力相互結合的奈米碳管122所形成的導電網絡進行傳輸。由於奈米碳管122的熱導率很高，當給奈米碳管膜結構12通電後，奈米碳管膜結構12迅速升溫，從而使得所述電致動夾持臂10的溫度快速升高，熱量從所述電致動夾持臂10中奈米碳管122的周圍快速地向整個電致動夾持臂10擴散，即奈米碳管膜結構12可迅速加熱柔性高分子基體14。由於熱膨脹量與材料的體積及熱膨脹係數成正比，且本實施例的電致動夾持臂10由兩層具有不同熱膨脹係數的具有奈米碳管膜結構12的一側和沒有奈米碳管膜結構12的一側複合而成，而具有奈米碳管膜結構12的一側熱膨脹係數遠小於所述柔性高分子基體14的熱膨脹係數，從而使得加熱後的電致動夾持臂10將向熱膨脹係數小的具有奈米碳管膜結構12的面彎曲。由於奈米碳管膜結構12中的第一接電部124和第二接電部126間隔設置於連接部125的同一側，當該電致動夾持臂10的第一接電部124和第二接電部126的一端固定時，所述電致動夾持臂10具有連接部125的一端向設有奈米碳管膜結構12的表面的方向彎曲。由於奈米碳管膜結構12中的第一接電部124和第二接電部126設置於連接部125的同一側，從而該電致動夾持臂10可以實現在所述電致動夾持臂10的一側控制另一側的彎曲運動，可以使該電致動夾持臂10在實際應用中具有更廣泛的應用。此外，由於奈米碳管122具有導電性好、熱容小的特點，所以使該電致動夾持臂10的熱響應速率快。因此，採用該電致動夾持臂10的電致動夾持器100也具有快的響應速率。The electrically actuated clamping arm 10 applies a voltage to the electrically actuated clamping arm 10 through the first electrical connection portion 124 and the second electrical connection portion 126 of the carbon nanotube membrane structure 12 when applied. Current can be transmitted through the conductive network formed by the carbon nanotubes 122 in the carbon nanotube membrane structure 12 that are bonded to each other by van der Waals forces. Since the thermal conductivity of the carbon nanotubes 122 is high, when the carbon nanotube membrane structure 12 is energized, the carbon nanotube membrane structure 12 is rapidly heated, so that the temperature of the electrically actuated clamping arm 10 rises rapidly. High, heat rapidly diffuses from the periphery of the carbon nanotube 122 in the electrically actuated gripping arm 10 to the entire electrically actuated gripping arm 10, i.e., the carbon nanotube membrane structure 12 rapidly heats the flexible polymeric matrix 14 . Since the amount of thermal expansion is proportional to the volume of the material and the coefficient of thermal expansion, and the electrically actuated clamping arm 10 of the present embodiment consists of two layers of carbon nanotube membrane structure 12 having different coefficients of thermal expansion and no carbon nanotubes. One side of the membrane structure 12 is composited, and the coefficient of thermal expansion of one side of the carbon nanotube membrane structure 12 is much smaller than the coefficient of thermal expansion of the flexible polymer matrix 14, so that the heated electrically actuated clamping arm 10 will The surface having the carbon nanotube film structure 12 having a small coefficient of thermal expansion is bent. Since the first power receiving portion 124 and the second power receiving portion 126 in the carbon nanotube film structure 12 are spaced apart from each other on the same side of the connecting portion 125, when the first power receiving portion 124 of the electrically actuating clamping arm 10 and When one end of the second power receiving portion 126 is fixed, the electrically actuated clamping arm 10 has one end of the connecting portion 125 bent in a direction in which the surface of the carbon nanotube film structure 12 is provided. Since the first power receiving portion 124 and the second power receiving portion 126 in the carbon nanotube film structure 12 are disposed on the same side of the connecting portion 125, the electrically actuated clamping arm 10 can be realized in the electrically actuated clip One side of the arm 10 controls the bending motion of the other side, which allows the electrically actuated gripping arm 10 to have a wider range of applications in practical applications. In addition, since the carbon nanotube 122 has the characteristics of good electrical conductivity and low heat capacity, the thermal response rate of the electrically actuated clamp arm 10 is made fast. Thus, the electrically actuated gripper 100 employing the electrically actuated gripping arm 10 also has a fast response rate.
可以理解，本發明實施例中的柔性高分子基體14可以設置成與所述奈米碳管膜結構12形狀相同的U形片狀材料。該奈米碳管膜結構12平行於所述柔性高分子基體14並鋪設於柔性高分子基體14的表面，從而形成一具有U形片狀結構的電致動夾持臂10。It can be understood that the flexible polymer matrix 14 in the embodiment of the present invention may be disposed in a U-shaped sheet material having the same shape as the carbon nanotube film structure 12. The carbon nanotube film structure 12 is parallel to the flexible polymer substrate 14 and laid on the surface of the flexible polymer substrate 14, thereby forming an electrically actuated clamping arm 10 having a U-shaped sheet structure.
請參閱圖8，可以理解，為了提高本發明電致動夾持臂10的奈米碳管膜結構12的連接部125的導電性，可以在奈米碳管膜結構12的連接部125遠離所述第一接電部124及第二接電部126的一側設置一導電增強層128，該導電增強層128至少部分覆蓋所述連接部125，導電增強層128增強了所述連接部125的導電能力，降低了連接部125的電阻，從而進一步提高了該電致動夾持臂10的熱響應速率。該導電增強層可以為金屬材料，如金、鉑、鈀、銀、銅、鐵、鎳等導電性較好的金屬，可以通過沉積的方法將一金屬材料沉積在所述連接部125，形成一定厚度的金屬薄膜。該導電增強層也可以為導電膠，如銀膠，通過印刷的方法形成。Referring to FIG. 8, it can be understood that in order to improve the conductivity of the connecting portion 125 of the carbon nanotube film structure 12 of the electrically actuated clamping arm 10 of the present invention, it may be away from the connecting portion 125 of the carbon nanotube film structure 12. One side of the first power receiving portion 124 and the second power receiving portion 126 is provided with a conductive enhancement layer 128, the conductive enhancement layer 128 at least partially covering the connecting portion 125, and the conductive reinforcing layer 128 enhances the connecting portion 125 The electrical conductivity reduces the electrical resistance of the connecting portion 125, thereby further increasing the thermal response rate of the electrically actuated clamping arm 10. The conductive reinforcing layer may be a metal material, such as gold, platinum, palladium, silver, copper, iron, nickel, etc., and a metal material may be deposited on the connecting portion 125 by a deposition method to form a certain Thick metal film. The conductive reinforcing layer may also be formed of a conductive paste such as silver paste by a printing method.
請參閱圖9，本發明第一實施例中的電致動夾持臂10奈米碳管膜結構12中的奈米碳管122首尾相連沿著由第一接電部124到連接部125，再到第二接電部126排列。本實施例的電致伸縮材料可以將圖5所示的奈米碳管拉膜直接連續鋪設在液態柔性高分子基體14表面依次形成連續的第一接電部124，連接部125以及第二接電部126。由於奈米碳管拉膜中的奈米碳管具有相同的擇優取向排列方向，該奈米碳管膜中的複數個奈米碳管通過凡得瓦力首尾相連，且所述複數個奈米碳管的軸向基本沿同一方向擇優取向排列，從而本實施例的電致動夾持臂10中的奈米碳管膜結構12中的奈米碳管122沿著由第一接電部124，連接部125及第二接電部126的方向首尾相連排列。由於奈米碳管122軸向的導電性較強，該電致動夾持臂10由第一接電部124到第二接電部126的電阻較小，從而進一步提高了該電致動夾持臂10的熱響應速率。Referring to FIG. 9, the carbon nanotubes 122 in the carbon nanotube film structure 12 of the electrically actuated clamping arm 10 in the first embodiment of the present invention are connected end to end along the first electrical connection portion 124 to the connecting portion 125. Then, the second power receiving unit 126 is arranged. The electrostrictive material of the present embodiment can directly and continuously lay the carbon nanotube film shown in FIG. 5 on the surface of the liquid flexible polymer substrate 14 to form a continuous first electrical connection portion 124, the connecting portion 125 and the second connection. Electrical part 126. Since the carbon nanotubes in the carbon nanotube film have the same preferred orientation direction, the plurality of carbon nanotubes in the carbon nanotube film are connected end to end by van der Waals, and the plurality of nanoparticles are The axial direction of the carbon tubes is substantially aligned in the same direction, so that the carbon nanotubes 122 in the carbon nanotube membrane structure 12 in the electrically actuated clamping arm 10 of the present embodiment are along the first electrical connection portion 124. The directions of the connecting portion 125 and the second power receiving portion 126 are arranged end to end. Since the axial conductivity of the carbon nanotube 122 is strong, the resistance of the electrically actuated clamping arm 10 from the first electrical connection portion 124 to the second electrical connection portion 126 is small, thereby further improving the electrical actuation clamp. The thermal response rate of the arm 10 is maintained.
請參閱圖10及圖11，本發明第二實施例提供一種電致動夾持器200，該電致動夾持器200與第一實施例的電致動夾持器100結構基本相同。區別在於，本實施例中的電致動夾持器200中的電致動夾持臂20的奈米碳管膜結構22包括複數個第一接電部124及複數個第二接電部126，該複數個第一接電部124與該複數個第二接電部126交替間隔設置於連接部125的同一側。使用時，使所述複數個第一接電部124遠離所述連接部125的一端通過導線60連接電源的正極，使所述複數個第二接電部126遠離所述連接部125的一端通過導線60連接電源的負極，從而通過連接部125使得整個奈米碳管膜結構12中形成回路。採用包括複數個第一接電部124及複數個第二接電部126的奈米碳管膜結構12的電致動夾持臂10，可以降低該電致動夾持臂10的驅動電壓，有利於實際應用。另外，由於該電致動夾持臂20包括複數個第一接電部124及複數個第二接電部126，其可以具有更大的面積，本實施例中的電致動夾持器200可以用於夾持長條形，或柱狀的物體。Referring to Figures 10 and 11, a second embodiment of the present invention provides an electrically actuated holder 200 that is substantially identical in construction to the electrically actuated holder 100 of the first embodiment. The difference is that the carbon nanotube film structure 22 of the electrically actuated clamping arm 20 in the electrically actuated holder 200 of the present embodiment includes a plurality of first power receiving portions 124 and a plurality of second power receiving portions 126. The plurality of first power receiving portions 124 and the plurality of second power receiving portions 126 are alternately spaced apart from each other on the same side of the connecting portion 125. In use, the one end of the plurality of first power receiving portions 124 away from the connecting portion 125 is connected to the positive pole of the power source through the wire 60, and the end of the plurality of second power receiving portions 126 away from the connecting portion 125 is passed. The wire 60 is connected to the negative electrode of the power source so that a loop is formed in the entire carbon nanotube film structure 12 through the connection portion 125. The electrically actuated clamping arm 10 of the carbon nanotube film structure 12 including the plurality of first electrical connecting portions 124 and the plurality of second electrical connecting portions 126 can reduce the driving voltage of the electrically actuated clamping arm 10, Conducive to practical applications. In addition, since the electrically actuated clamping arm 20 includes a plurality of first electrical connecting portions 124 and a plurality of second electrical connecting portions 126, which may have a larger area, the electrically actuated holder 200 in this embodiment Can be used to hold long, or columnar objects.
請參閱圖12，本發明第三實施例提供一種電致動夾持器300，該電致動夾持器300的結構和第一實施例中的電致動夾持器100結構類似。區別在於，該電致動夾持器200的支撐部70具有複數個支撐臂31，和複數個電致動夾持臂10。其中每一個電致動夾持臂10對應一個支撐臂31設置，所述複數個電致動夾持臂10間隔設置，並且電致動夾持臂10形成有奈米碳管膜結構12的表面向內相對，圍成一個空間，該空間與被夾持物相對應。本發明第三實施例提供的電致動夾持器300，包括複數個電致動夾持臂10，可以具有更寬的應用範圍。Referring to FIG. 12, a third embodiment of the present invention provides an electrically actuated holder 300 having a structure similar to that of the electrically actuated holder 100 of the first embodiment. The difference is that the support portion 70 of the electrically actuated gripper 200 has a plurality of support arms 31 and a plurality of electrically actuated clamp arms 10. Each of the electrically actuated gripping arms 10 is disposed corresponding to a support arm 31, the plurality of electrically actuated gripping arms 10 are spaced apart, and the electrically actuated gripping arms 10 are formed with the surface of the carbon nanotube membrane structure 12. Inwardly opposed, enclosing a space corresponding to the object to be clamped. The electrically actuated gripper 300 of the third embodiment of the present invention, comprising a plurality of electrically actuated gripping arms 10, can have a wider range of applications.
請參閱圖13，本發明第四實施例的電致動夾持器400，其結構與第三實施例中的電致動夾持器300相類似。區別在於，電致動夾持器400的複數個電致動夾持臂10為通過一體成型的方式形成一個具有整體結構的一體式電致動夾持體50。Referring to Figure 13, an electrically actuated holder 400 of a fourth embodiment of the present invention is constructed similarly to the electrically actuated holder 300 of the third embodiment. The difference is that the plurality of electrically actuated clamping arms 10 of the electrically actuated holder 400 are integrally formed to form an integral electrically actuated clamping body 50 having a unitary structure.
請參見圖14，該電致動夾持體50具有一個第一側面54，以及一個與該第一側面54相對的第二側面56。所述電致動夾持體50為片材，其包括：一柔性高分子基體14，以及一奈米碳管膜結構52設置於該柔性高分子基體14表面。該奈米碳管膜結構52係在柔性高分子基體14未完全固化呈黏稠的液態時鋪設於該柔性高分子基體14的表面，因此液態的柔性高分子基體材料可以滲透進入該奈米碳管膜結構52中的奈米碳管122之間的間隙當中，該柔性高分子基體14的材料與奈米碳管膜結構52中的奈米碳管122緊密結合在一起。該奈米碳管膜結構52包括偶數個第一接電部124，和偶數個第二接電部126，第二接電部126以及連接部125，均為長條形。所述第一接電部124和所述第二接電部126間隔交替設置，並且每兩個相鄰的第一接電部124和第二接電部126在第一側面54或第二側面56通過連接部125電連接，形成一個U形的導電通路。從而整個奈米碳管膜結構52中的複數個第一接電部124和第二接電部126能夠形成一個完整的導電通路，使用時，只要在第二側面56，使第一個第一接電部124和最後一個第二接電部126連接電源的兩個電極，就可以給整個奈米碳管膜結構52通電。每兩個在所述第一側面54電連接的第一接電部124和第二接電部126可以定義為一個電致動夾持臂10，相鄰的電致動夾持臂10之間除在第二側面56電連接的部分具有柔性高分子基體14外，其他的部分無柔性高分子基體14存在，從而所述一體式電致動夾持體50具有的複數個電致動夾持臂10僅僅在第二側面56相互連接形成一個整體結構。本實施例中，共有6個第一接電部124，和6個第二接電部126，從而形成6個電致動夾持臂10，使用時，使形成有奈米碳管膜結構52的表面向內，該電致動夾持體50捲曲成圓筒狀，所述電致動夾持體50的第二側面56固定於所述支撐部70，從而使得所述複數個電致動夾持臂10間隔設置，並且形成有奈米碳管膜結構52的表面向內，圍成一個夾持空間。Referring to FIG. 14, the electrically actuated clamping body 50 has a first side 54 and a second side 56 opposite the first side 54. The electrically actuated holder 50 is a sheet comprising: a flexible polymer matrix 14 and a carbon nanotube film structure 52 disposed on the surface of the flexible polymer matrix 14. The carbon nanotube film structure 52 is laid on the surface of the flexible polymer matrix 14 when the flexible polymer matrix 14 is not completely cured in a viscous liquid state, so that the liquid flexible polymer matrix material can penetrate into the carbon nanotubes. Among the gaps between the carbon nanotubes 122 in the membrane structure 52, the material of the flexible polymer matrix 14 is tightly bonded to the carbon nanotubes 122 in the carbon nanotube membrane structure 52. The carbon nanotube film structure 52 includes an even number of first electrical connection portions 124, and an even number of second electrical connection portions 126, a second electrical connection portion 126, and a connection portion 125, both of which are elongated. The first power receiving portion 124 and the second power receiving portion 126 are alternately disposed, and each two adjacent first power receiving portions 124 and second power receiving portions 126 are on the first side 54 or the second side 56 is electrically connected through the connecting portion 125 to form a U-shaped conductive path. Therefore, the plurality of first electrical connection portions 124 and second electrical connection portions 126 in the entire carbon nanotube film structure 52 can form a complete conductive path, and in use, as long as the first side is 56, the first first The power receiving portion 124 and the last second power receiving portion 126 are connected to the two electrodes of the power source to energize the entire carbon nanotube film structure 52. Each of the two first electrical connection portions 124 and the second electrical connection portion 126 electrically connected to the first side surface 54 may be defined as an electrically actuated clamping arm 10 between adjacent electrically actuated clamping arms 10 Except that the portion electrically connected at the second side 56 has the flexible polymer matrix 14, other portions of the non-flexible polymer matrix 14 are present, so that the integrated electrically actuated holder 50 has a plurality of electrically actuated clamps The arms 10 are only interconnected on the second side 56 to form a unitary structure. In this embodiment, there are six first power receiving portions 124 and six second power receiving portions 126, thereby forming six electrically actuated clamping arms 10, and in use, a carbon nanotube film structure 52 is formed. Inwardly, the electrically actuated clamping body 50 is crimped into a cylindrical shape, and the second side 56 of the electrically actuated clamping body 50 is secured to the support portion 70 such that the plurality of electrically actuated The gripping arms 10 are spaced apart and the surface of the carbon nanotube film structure 52 is formed inwardly to enclose a clamping space.
請參見圖15，本發明第五實施例的電致動夾持器500，其結構與第四實施例的電致動夾持器400相類似，本實施例中電致動夾持器500主要特點係電致動夾持體50與支撐部80整合為一體結構。Referring to Figure 15, an electrically actuated holder 500 according to a fifth embodiment of the present invention has a structure similar to that of the electrically actuated holder 400 of the fourth embodiment. In this embodiment, the electrically actuated holder 500 is mainly The feature is that the electrically actuated clamping body 50 and the support portion 80 are integrated into a unitary structure.
請參見圖16，圖16為本發明第五實施例的電致動夾持器500的平面***結構示意圖。該電致動夾持器500係在一個整體的高分子基體的基礎上分為兩個區域，即第一區域和第二區域，其材料與前述實施例相同。第一區域形成複數個電致動夾持臂10，而第二區域形成支撐部80。第一區域整體上呈正方形，通過剪切等方式形成具有複數個電致動夾持臂10的電致動夾持體50，然後每一個電致動夾持臂10的基體上與前述實施例相同的方式設置U形奈米碳管膜結構。第二區域呈梯形，其長邊與第一區域銜接，短邊遠離第一區域方向設置。其中，根據實際需求可以設置成第二區域的厚度大於第一區域的厚度。將所述第一區域和第二區域一同向設有奈米碳管膜結構52的一面捲曲成圓筒狀時，第一區域捲曲成為筒狀電致動夾持體50，第二區域捲曲成為錐形支撐部80，從而獲得一個一體成型的電致動夾持器500。兩根導線60分別連接在所述電致動夾持體50的一個第一接電部124，和一個第二接電部126的靠近所述第二區域的一端，需要保證整個電致動夾持體50的奈米碳管膜結構52都能通電。請參見圖15，所述兩根導線60可以通過支撐部的一端伸出，從而與電源相連接。Referring to FIG. 16, FIG. 16 is a schematic diagram showing the planar explosion structure of the electrically actuated holder 500 according to the fifth embodiment of the present invention. The electrically actuated holder 500 is divided into two regions, namely a first region and a second region, on the basis of an integral polymer matrix, the material of which is the same as in the previous embodiment. The first region forms a plurality of electrically actuated gripping arms 10 and the second region forms a support portion 80. The first region is generally square in shape, and an electrically actuated clamping body 50 having a plurality of electrically actuated clamping arms 10 is formed by shearing or the like, and then each of the substrates of the electrically actuating clamping arms 10 is in the same manner as the foregoing embodiment. The U-shaped carbon nanotube film structure is set in the same manner. The second region has a trapezoidal shape, and the long side thereof is connected to the first region, and the short side is disposed away from the first region. Wherein, according to actual needs, the thickness of the second region may be set to be larger than the thickness of the first region. When the first region and the second region are simultaneously curled into a cylindrical shape with respect to one surface on which the carbon nanotube film structure 52 is provided, the first region is curled into a cylindrical electrically actuated holder 50, and the second region is curled. The tapered support portion 80 is thereby obtained as an integrally formed electrically actuated holder 500. Two wires 60 are respectively connected to a first electrical connection portion 124 of the electrically actuated clamping body 50 and an end of a second electrical connection portion 126 adjacent to the second region, and the entire electrically actuated clamp needs to be ensured. The carbon nanotube membrane structure 52 of the holder 50 can be energized. Referring to Figure 15, the two wires 60 may extend through one end of the support to be connected to a power source.
與先前技術相比較，本發明提供的電致動夾持器，其包括至少兩個間隔設置的支撐臂，以及至少兩個電致動夾持臂。所述電致動夾持臂為柔性高分子基體和奈米碳管膜結構構成的複合材料，具有完整的結構，從而使得該電致動夾持器具有結構簡單的優點。另外，該奈米碳管膜結構包括複數個奈米碳管，該複數個奈米碳管由凡得瓦力結合形成一個整體，該複數個奈米碳管相互連接並形成導電網絡，使得該電致動夾持臂具有較好的導電性，可以快速加熱該電致動夾持臂，使得該電致動夾持臂也相應具有較高的導電和導熱性，且熱響應速率較快。In contrast to the prior art, the present invention provides an electrically actuated gripper that includes at least two spaced apart support arms and at least two electrically actuated gripping arms. The electrically actuated clamping arm is a composite material composed of a flexible polymer matrix and a carbon nanotube film structure, and has a complete structure, thereby making the electrically actuated holder have the advantages of simple structure. In addition, the carbon nanotube membrane structure comprises a plurality of carbon nanotubes, the plurality of carbon nanotubes are combined by van der Waals force to form a whole, the plurality of carbon nanotubes are connected to each other and form a conductive network, so that The electrically actuated clamping arm has better electrical conductivity and can rapidly heat the electrically actuated clamping arm such that the electrically actuated clamping arm also has a higher electrical and thermal conductivity and a faster thermal response rate.
綜上所述，本發明確已符合發明專利之要件，遂依法提出專利申請。惟，以上所述者僅為本發明之較佳實施例，自不能以此限制本案之申請專利範圍。舉凡熟悉本案技藝之人士援依本發明之精神所作之等效修飾或變化，皆應涵蓋於以下申請專利範圍內。In summary, the present invention has indeed met the requirements of the invention patent, and has filed a patent application according to law. However, the above description is only a preferred embodiment of the present invention, and it is not possible to limit the scope of the patent application of the present invention. Equivalent modifications or variations made by persons skilled in the art in light of the spirit of the invention are intended to be included within the scope of the following claims.
10，20‧‧‧電致動夾持臂10,20‧‧‧Electrically actuated clamping arm
12，22，52‧‧‧奈米碳管膜結構12,22,52‧‧‧Nano carbon nanotube membrane structure
100，200，300，400，500‧‧‧電致動夾持器100,200,300,400,500‧‧‧Electrically actuated holder
122‧‧‧奈米碳管122‧‧‧Nano Carbon Tube
124‧‧‧第一接電部124‧‧‧First Power Department
126‧‧‧第二接電部126‧‧‧Second Power Supply Department
125‧‧‧連接部125‧‧‧Connecting Department
128‧‧‧導電增強層128‧‧‧Electrical enhancement layer
14‧‧‧柔性高分子基體14‧‧‧Flexible polymer matrix
30，70，80‧‧‧支撐部30,70,80‧‧‧Support
31‧‧‧支撐臂31‧‧‧Support arm
311‧‧‧第一端311‧‧‧ first end
312‧‧‧第二端312‧‧‧ second end
50‧‧‧電致動夾持體50‧‧‧Electrically actuated clamping body
54‧‧‧第一側面54‧‧‧ first side
56‧‧‧第二側面56‧‧‧ second side
60‧‧‧導線60‧‧‧ wire
圖1為本發明第一實施例提供的電致動夾持器的立體結構示意圖。FIG. 1 is a schematic perspective structural view of an electric actuator holder according to a first embodiment of the present invention.
圖2為本發明第一實施例提供的電致動夾持器的電致動夾持臂的立體結構示意圖。2 is a perspective view of the electrically actuated clamping arm of the electrically actuated gripper according to the first embodiment of the present invention.
圖3為圖2所示的電致動夾持器的電致動夾持臂沿III-III線的剖視圖。3 is a cross-sectional view of the electrically actuated clamping arm of the electrically actuated gripper of FIG. 2 taken along line III-III.
圖4為圖2中電致動夾持器的電致動夾持臂中的奈米碳管膜結構的立體結構示意圖。4 is a perspective view showing the structure of a carbon nanotube film in the electrically actuated clamping arm of the electrically actuated holder of FIG.
圖5為本發明第一實施例提供的電致動夾持器的電致動夾持臂中採用的奈米碳管拉膜的掃描電鏡照片。FIG. 5 is a scanning electron micrograph of a carbon nanotube film used in an electrically actuated clamping arm of an electrically actuated holder according to a first embodiment of the present invention.
圖6為本發明第一實施例提供的電致動夾持器的電致動夾持臂中採用的奈米碳管碾壓膜的掃描電鏡照片。6 is a scanning electron micrograph of a carbon nanotube rolled film used in an electrically actuated clamping arm of an electrically actuated holder according to a first embodiment of the present invention.
圖7為本發明第一實施例提供的電致動夾持器的電致動夾持臂中採用的奈米碳管絮化膜的掃描電鏡照片。7 is a scanning electron micrograph of a carbon nanotube flocculation membrane used in an electrically actuated clamping arm of an electrically actuated gripper according to a first embodiment of the present invention.
圖8為本發明第一實施例提供的電致動夾持器中具有包含有導電增強層的電致動夾持臂。Figure 8 is an electrical actuated gripper having an electrically conductive reinforcement layer in an electrically actuated holder provided in accordance with a first embodiment of the present invention.
圖9為本發明第一實施例提供的電致動夾持器的電致動夾持臂中的一種奈米碳管膜結構的立體結構示意圖，該奈米碳管膜結構中的奈米碳管具特殊的排列方向。FIG. 9 is a schematic perspective structural view of a carbon nanotube film structure in an electrically actuated clamping arm of an electrically actuated holder according to a first embodiment of the present invention, the nano carbon in the carbon nanotube film structure The tube has a special arrangement direction.
圖10為本發明第二實施例提供的電致動夾持器的結構示意圖。FIG. 10 is a schematic structural view of an electrically actuated holder according to a second embodiment of the present invention.
圖11為本發明第二實施例提供的電致動夾持器的電致動夾持臂中的另一種奈米碳管膜結構示意圖，該奈米碳管膜結構包括複數個第一接電部，和複數個第二接電部。11 is a schematic structural view of another carbon nanotube film in an electrically actuated clamping arm of an electrically actuated holder according to a second embodiment of the present invention, the carbon nanotube film structure including a plurality of first electrical connections Department, and a plurality of second power-on parts.
圖12為本發明第三實施例提供的電致動夾持器的結構示意圖。FIG. 12 is a schematic structural view of an electrically actuated holder according to a third embodiment of the present invention.
圖13為本發明第四實施例提供的電致動夾持器的結構示意圖。FIG. 13 is a schematic structural view of an electrically actuated holder according to a fourth embodiment of the present invention.
圖14為本發明第四實施例提供的電致動夾持器的電致動夾持體的結構示意圖。FIG. 14 is a schematic structural view of an electrically actuated holder of an electrically actuated holder according to a fourth embodiment of the present invention.
圖15為本發明第第五實施例提供的電致動夾持器的立體結構示意圖。Figure 15 is a perspective view showing the structure of an electrically actuated holder according to a fifth embodiment of the present invention.
圖16為本發明第第五實施例提供的電致動夾持器的平面***結構結構示意圖。Figure 16 is a schematic view showing the structure of a planar explosion structure of an electrically actuated holder according to a fifth embodiment of the present invention.
10‧‧‧電致動夾持臂 10‧‧‧Electrically actuated clamping arm
12‧‧‧奈米碳管膜結構 12‧‧‧Nano Carbon Membrane Structure
14‧‧‧柔性高分子基體 14‧‧‧Flexible polymer matrix
30‧‧‧支撐部 30‧‧‧Support
31‧‧‧支撐臂 31‧‧‧Support arm
60‧‧‧導線 60‧‧‧ wire
100‧‧‧電致動夾持器 100‧‧‧Electrically actuated holder
311‧‧‧第一端 311‧‧‧ first end
312‧‧‧第二端 312‧‧‧ second end
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| CN109095433A (en) * | 2018-08-28 | 2018-12-28 | 苏州大学 | Electric heating micro clamping device |
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| CN109095433A (en) * | 2018-08-28 | 2018-12-28 | 苏州大学 | Electric heating micro clamping device |
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